version: 66.06
glider: 146
mission: 8
dive: 175
start: 2 21 113 1 9 49
data:
$ID,146
$MISSION,8
$DIVE,175
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,620
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-310782.75
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3260
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,005805,1925.228,-8114.576,29,1.1,29,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.5
$GPS2,010855,1925.250,-8114.664,13,1.3,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,0.134
$KALMAN_X,-594.1,-357.3,-271.2,1197.0,833.4
$KALMAN_Y,-9.3,165.7,-6.2,-4584.9,-650.3
$MHEAD_RNG_PITCHd_Wd,304.8,6667,-17.5,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.22,0.000,2,0.000,0.000,466,2116,3490,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.4,-4.1,9,122,13.75,2.42,-5.62,0.000,4,0.169,0.051,2976,626,3787,0,0,0,0,0,0
$GC,313,-1.08,-146.0,50.1,-18.1,33,323,0.17,2.50,0.00,0.000,6,0.090,0.017,3018,2233,3787,0,0,0,0,0,0
$GC,578,-0.96,-146.0,88.9,-15.3,58,583,0.15,2.65,0.00,0.000,4,0.102,0.044,3053,624,3788,0,0,0,0,0,0
$GC,631,-0.92,-146.0,96.6,-12.8,62,635,0.00,2.45,0.00,0.000,6,0.000,0.016,3052,2215,3788,0,0,0,0,0,0
$GC,896,-0.92,-146.0,126.8,-9.3,86,905,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2215,3789,0,0,0,0,0,0
$GC,1162,-1.07,-146.0,148.5,-6.7,111,1167,0.12,2.60,0.00,0.000,4,0.064,0.042,2996,634,3789,0,0,0,0,0,0
$GC,1195,-1.03,-146.0,152.1,-9.7,113,1201,0.17,2.42,0.00,0.000,6,0.091,0.018,3036,2214,3790,0,0,0,0,0,0
$GC,1460,-1.09,-146.0,172.2,-6.8,138,1465,0.00,2.45,0.00,0.000,4,0.000,0.039,3036,3769,3791,0,0,0,0,0,0
$GC,1483,-1.15,-146.0,173.8,-7.3,139,1489,0.12,2.47,0.00,0.000,6,0.067,0.026,2980,2181,3791,0,0,0,0,0,0
$GC,1748,-1.15,-146.0,198.6,-9.5,163,1753,0.12,2.53,0.00,0.000,4,0.100,0.054,3009,641,3791,0,0,0,0,0,0
$GC,1799,-1.20,-146.0,203.6,-8.7,165,1803,0.00,2.40,0.00,0.000,6,0.000,0.017,3009,2202,3791,0,0,0,0,0,0
$GC,2073,-1.24,-146.0,225.2,-7.9,172,2077,0.00,2.55,0.00,0.000,4,0.000,0.046,3009,641,3790,0,0,0,0,0,0
$GC,2106,-1.28,-146.0,227.9,-7.4,172,2112,0.12,2.40,0.00,0.000,6,0.067,0.024,2957,2201,3790,0,0,0,0,0,0
$GC,2359,-1.23,-146.0,251.2,-9.5,179,2364,0.15,2.58,0.00,0.000,4,0.097,0.048,2991,641,3790,0,0,0,0,0,0
$GC,2392,-1.23,-146.0,254.6,-9.0,179,2397,0.00,2.38,0.00,0.000,6,0.000,0.021,2991,2192,3791,0,0,0,0,0,0
$GC,2642,-1.23,-146.0,274.1,-7.5,186,2646,0.00,2.55,0.00,0.000,4,0.000,0.044,2991,3778,3790,0,0,0,0,0,0
$GC,2676,-1.23,-146.0,276.8,-8.0,186,2682,0.00,2.50,0.00,0.000,6,0.000,0.021,2991,2183,3790,0,0,0,0,0,0
$GC,2926,-1.23,-146.0,295.4,-7.3,193,2931,0.00,2.55,0.00,0.000,4,0.000,0.061,2991,635,3790,0,0,0,0,0,0
$GC,2948,-1.23,-146.0,297.1,-7.2,193,2952,0.00,2.42,0.00,0.000,6,0.000,0.020,2991,2195,3790,0,0,0,0,0,0
$GC,3206,-1.23,-146.0,315.4,-7.1,200,3210,0.00,2.55,0.00,0.000,4,0.000,0.047,2991,3783,3788,0,0,0,0,0,0
$GC,3238,-1.23,-146.0,318.2,-7.8,200,3244,0.00,2.50,0.00,0.000,6,0.000,0.028,2991,2200,3788,0,0,0,0,0,0
$GC,3488,-1.23,-146.0,337.4,-7.8,207,3493,0.00,2.62,0.00,0.000,4,0.000,0.067,2991,629,3788,0,0,0,0,0,0
$GC,3516,-1.23,-146.0,339.8,-8.6,207,3520,0.00,2.45,0.00,0.000,6,0.000,0.024,2992,2187,3788,0,0,0,0,0,0
$GC,3768,-1.23,-146.0,360.0,-8.0,213,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2187,3787,0,0,0,0,0,0
$GC,4010,-1.23,-146.0,378.5,-7.6,219,4014,0.00,2.60,0.00,0.000,4,0.000,0.049,2992,3786,3786,0,0,0,0,0,0
$GC,4037,-1.26,-146.0,380.8,-8.0,219,4041,0.00,2.55,0.00,0.000,6,0.000,0.031,2991,2191,3785,0,0,0,0,0,0
$GC,4289,-1.26,-146.0,399.9,-7.6,225,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2191,3785,0,0,0,0,0,0
$GC,4530,-1.26,-146.0,418.1,-7.4,231,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2191,3784,0,0,0,0,0,0
$GC,4774,-1.26,-146.0,435.9,-7.2,237,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2191,3783,0,0,0,0,0,0
$GC,5018,-1.26,-146.0,453.5,-7.1,243,5022,0.00,2.67,0.00,0.000,4,0.000,0.059,2991,3785,3782,0,0,0,0,0,0
$GC,5036,-1.30,-146.0,454.6,-7.1,243,5041,0.00,2.60,0.00,0.000,6,0.000,0.037,2991,2195,3782,0,0,0,0,0,0
$GC,5297,-1.34,-146.0,473.5,-7.2,250,5299,0.10,0.00,0.00,0.000,6,0.083,0.000,2951,2196,3781,0,0,0,0,0,0
$GC,5543,-1.31,-146.0,495.6,-9.3,256,5548,0.10,2.72,0.00,0.000,4,0.108,0.063,2976,3779,3779,0,0,0,0,0,0
$GC,5565,-1.31,-146.0,498.0,-9.3,256,5569,0.00,2.62,0.00,0.000,6,0.000,0.050,2976,2195,3779,0,0,0,0,0,0
$GC,5820,-1.31,-146.0,518.5,-8.0,263,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2195,3778,0,0,0,0,0,0
$GC,6064,-1.31,-146.0,536.5,-7.3,269,6068,0.00,2.70,0.00,0.000,4,0.000,0.073,2976,3773,3777,0,0,0,0,0,0
$GC,6087,-1.31,-146.0,538.3,-8.1,269,6092,0.00,2.65,0.00,0.000,6,0.000,0.051,2976,2202,3777,0,0,0,0,0,0
$GC,6342,-1.31,-146.0,556.9,-7.4,276,6347,0.00,2.97,0.00,0.000,4,0.000,0.117,2976,623,3776,0,0,0,0,0,0
$GC,6369,-1.31,-146.0,559.2,-7.8,276,6374,0.00,2.58,0.00,0.000,6,0.000,0.050,2976,2189,3776,0,0,0,0,0,0
$GC,6623,-1.31,-146.0,579.8,-8.3,282,6627,0.00,2.85,0.00,0.000,4,0.000,0.091,2976,3792,3775,0,0,0,0,0,0
$GC,6644,-1.31,-146.0,582.1,-8.8,282,6649,0.00,2.67,0.00,0.000,6,0.000,0.060,2976,2199,3775,0,0,0,0,0,0
$GC,6899,-1.31,-146.0,603.1,-8.2,289,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2199,3773,0,0,0,0,0,0
$GC,7145,-1.31,-146.0,622.2,-7.7,295,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2199,3772,0,0,0,0,0,0
$GC,7387,-1.31,-146.0,640.6,-7.6,301,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2199,3771,0,0,0,0,0,0
$GC,7630,-1.31,-146.0,659.4,-7.8,307,7635,0.00,2.92,0.00,0.000,4,0.000,0.105,2976,3790,3769,0,0,0,0,0,0
$GC,7652,-1.31,-146.0,661.2,-8.0,307,7656,0.00,2.85,0.00,0.000,6,0.000,0.087,2976,2205,3769,0,0,0,0,0,0
$GC,7909,-1.31,-146.0,680.9,-7.7,314,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2205,3767,0,0,0,0,0,0
$GC,8150,-1.31,-146.0,698.9,-7.4,320,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2205,3766,0,0,0,0,0,0
$GC,8394,-1.31,-146.0,716.9,-7.5,326,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2205,3766,0,0,0,0,0,0
$GC,8640,-1.31,-146.0,735.8,-7.9,332,8645,0.00,3.33,0.00,0.000,4,0.000,0.170,2976,623,3764,0,0,0,0,0,0
$GC,8662,-1.31,-146.0,737.8,-7.8,332,8667,0.00,3.00,0.00,0.000,6,0.000,0.110,2976,2208,3764,0,0,0,0,0,0
$GC,8917,-1.31,-146.0,757.5,-7.6,339,8922,0.00,3.30,0.00,0.000,4,0.000,0.164,2976,3804,3763,0,0,0,0,0,0
$GC,8952,-1.31,-146.0,760.1,-7.9,339,8958,0.00,2.78,0.00,0.000,6,0.000,0.072,2976,2211,3762,0,0,0,0,0,0
$GC,9202,-1.31,-146.0,779.0,-7.5,346,9207,0.00,3.03,0.00,0.000,4,0.000,0.130,2976,622,3762,0,0,0,0,0,0
$GC,9229,-1.31,-146.0,781.2,-8.2,346,9234,0.00,2.75,0.00,0.000,6,0.000,0.066,2976,2222,3761,0,0,0,0,0,0
$GC,9481,-1.31,-146.0,799.6,-7.3,352,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3761,0,0,0,0,0,0
$GC,9723,-1.31,-146.0,816.8,-7.0,358,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3760,0,0,0,0,0,0
$GC,9967,-1.31,-146.0,834.0,-7.1,364,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3758,0,0,0,0,0,0
$GC,10210,-1.31,-146.0,851.5,-7.1,370,10215,0.00,2.83,0.00,0.000,4,0.000,0.091,2976,3799,3757,0,0,0,0,0,0
$GC,10240,-1.35,-146.0,853.5,-7.7,370,10245,0.00,2.72,0.00,0.000,6,0.000,0.061,2976,2216,3757,0,0,0,0,0,0
$GC,10491,-1.38,-146.0,871.8,-7.2,376,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2215,3756,0,0,0,0,0,0
$GC,10734,-1.42,-146.0,889.7,-7.3,382,10739,0.12,2.80,0.00,0.000,4,0.071,0.077,2934,3799,3755,0,0,0,0,0,0
$GC,10759,-1.42,-146.0,891.8,-9.3,382,10763,0.00,2.72,0.00,0.000,6,0.000,0.062,2934,2222,3755,0,0,0,0,0,0
$STATE,10848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10848,begin apogee
$GC,10855,-0.31,0.0,900.4,9.1,385,10978,1.12,0.00,119.25,1.220,6,0.074,0.000,3188,2383,3190,0,0,0,0,0,0
$STATE,10978,end apogee,CONTROL_FINISHED_OK
$STATE,10978,begin climb
$GC,10981,1.27,146.0,903.3,0.0,388,11118,1.45,2.85,126.88,1.189,4,0.037,0.072,3543,3928,2593,0,0,0,0,0,0
$GC,11204,1.13,146.0,887.4,12.9,393,11209,0.17,2.72,0.00,0.000,6,0.115,0.054,3508,2361,2587,0,0,0,0,0,0
$GC,11479,1.10,151.4,860.0,9.7,400,11489,0.00,2.78,5.05,0.814,4,0.000,0.067,3508,3932,2572,0,0,0,0,0,0
$GC,11540,1.03,151.4,853.0,10.7,401,11545,0.12,2.65,0.00,0.000,6,0.127,0.050,3485,2378,2571,0,0,0,0,0,0
$GC,11803,1.05,172.0,829.2,9.0,408,11828,0.00,2.75,19.67,1.094,4,0.000,0.055,3484,3932,2487,0,0,0,0,0,0
$GC,11844,1.08,197.0,825.1,8.8,409,11874,0.00,2.62,24.30,1.103,6,0.000,0.041,3484,2378,2386,0,0,0,0,0,0
$GC,12127,1.09,199.5,797.3,9.9,416,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,2378,2381,0,0,0,0,0,0
$GC,12369,1.09,199.7,773.2,10.0,422,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,2378,2379,0,0,0,0,0,0
$GC,12612,1.10,214.5,750.3,9.3,428,12635,0.00,2.70,16.12,1.048,4,0.000,0.053,3484,3931,2315,0,0,0,0,0,0
$GC,12650,1.13,233.5,746.9,9.1,428,12674,0.00,2.65,19.12,1.053,6,0.000,0.047,3484,2377,2238,0,0,0,0,0,0
$GC,12943,1.17,235.9,717.7,9.9,436,12945,0.12,0.00,0.00,0.000,6,0.077,0.000,3520,2377,2234,0,0,0,0,0,0
$GC,13185,1.17,235.9,689.4,11.8,442,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2377,2232,0,0,0,0,0,0
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$STATE,19140,end climb,SURFACE_DEPTH_REACHED
$STATE,19140,begin surface coast
$FINISH,0.9,1.023532
$STATE,19196,end surface coast,CONTROL_FINISHED_OK
$STATE,19196,begin surface
$SM_CCo,19221,38.40,0.488,0,0,1763,350.04
$SM_GC,1.97,0.00,0.00,38.40,0.000,0.000,0.488,467,2130,1763,-12.85,-2.26,350.04
$IRIDIUM_FIX,1918.37,-8112.45,180502,010146
$TT8_MAMPS,0.026078
$HUMID,58.19
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.40
$XPDR_PINGS,72
$24V_AH,23.3,24.818
$10V_AH,10.4,21.643
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.925,225.950,391.525,38.400,0.000,58.525,85.596,271.878,18.000,0.000,15.360,1544.497,14539.197,552.752,2359.485,905.250,33.349,1580.353,0.000,2351.454,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,170.274,1220.297,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.671,341.192,433.847,570.438,1087.370,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,57262,728
$CAP_FILE_SIZE,178914,0
$CFSIZE,260165632,116404224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210213,063206,1926.236,-8117.586,34,1.1,34,-3.7